//
// Copyright (c) 2018, University of Edinburgh
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#include <exotica_ompl_control_solver/ompl_native_solvers.h>

REGISTER_MOTIONSOLVER_TYPE("ControlRRTSolver", exotica::ControlRRTSolver)
REGISTER_MOTIONSOLVER_TYPE("ControlKPIECESolver", exotica::ControlKPIECESolver)

namespace exotica
{
// ControlRRTSolver
ControlRRTSolver::ControlRRTSolver() = default;

void ControlRRTSolver::Instantiate(const ControlRRTSolverInitializer &init)
{
    init_ = OMPLControlSolverInitializer(ControlRRTSolverInitializer(init));
    algorithm_ = "ControlRRTSolver";
    planner_allocator_ = std::bind(&AllocatePlanner<ompl::control::RRT>, std::placeholders::_1);
}

// ControlKPIECESolver
ControlKPIECESolver::ControlKPIECESolver() = default;

void ControlKPIECESolver::Instantiate(const ControlKPIECESolverInitializer &init)
{
    init_ = OMPLControlSolverInitializer(ControlKPIECESolverInitializer(init));
    algorithm_ = "ControlKPIECESolver";
    planner_allocator_ = std::bind(&AllocatePlanner<ompl::control::KPIECE1>, std::placeholders::_1);
}

}  // namespace exotica
